柔性车削单元中工件刀具夹具更换机械手设计中几个问题的研究

Some Proqlems in Designing Mechnical-arms for Changing Workpiece Tools and Fixtures in FMC

本文讨论了用复合运动来减少机械手自由度的必要和分析了几个实例,提出了用开式自定心手爪来解决单元中手爪的柔性化问题并建立了基本构件的实用廊线方程。文中提出了我国门桥式工业机器人结构典型化和建立系列型谱和专业化生产的建议。

This paper discuss the necessity of reducing degree of freedom of arms by multiple movements and analyses some examples. It suggests a solution to the problem of the flexibility of mechanical fingers in FMC by means of auto-centering steady rest and sets up a practical contour-line formulas for besic components. It also raises the suggestions of typifying the constraction of bridge-type robots, of setting up the series and of specializing the production.